Intelligent service trolley based on brain-computer interface

Abstract

The utility model discloses an intelligent service dolly based on a brain-computer interface, and relates to the service robot technology field, the intelligent service dolly based on the brain-computer interface comprises a dolly body, the upper part of the dolly body is provided with an STM32 single-chip microcomputer, the upper surface of the dolly body is fixedly connected with a support plate, and the support plate is fixedly connected with the brain-computer interface. A camera and two double-frequency WiFi are fixedly connected to the upper surface of the supporting plate, feature extraction and processing are performed on original electroencephalogram data by adopting a wavelet transform and Fourier transform combined method, and after preprocessing, state detection and grading classification are performed on electroencephalogram signals to adapt to different mental states, for example, an instruction is quickly responded when a user wakes up, so that the user experience is improved. When attention declines, the system automatically decelerates or enters a safety mode, meanwhile, a path planning program based on an ant colony algorithm is achieved to complete an automatic navigation function, and efficient interaction is achieved by collecting and processing electroencephalogram signals, accurately recognizing the attention state of a user and controlling car behaviors.

Description

TECHNICAL FIELD

[0001] The utility model relates to service robot technical field, especially intelligent service dolly based on brain -computer interface. BACKGROUND

[0002] Intelligent service dolly as a kind of emerging intelligent equipment, gradually plays an important role in modern life, it combines multiple advanced technologies, aims at providing more convenient, efficient and personalized service experience for user, especially in the field of auxiliary life, intelligent logistics shows huge application potential.

[0003] The intelligent service dolly has the following related technologies:

[0004] 1, core control unit: usually adopt microcontroller such as STM32 single-chip microcomputer, it is the "brain" of dolly, is responsible for the operation of whole system.

[0005] 2, laser ranging technology: realize through laser ranging radar, it transmits laser pulse and receives reflected light, accurately measures the distance between dolly and surrounding object.

[0006] 3, motor and driving circuit: provide power for dolly, drive wheel rotation realizes movement.

[0007] 4, communication and remote control technology: realize the communication connection between dolly and external equipment (such as smart phone, computer etc.

[0008] At present, existing intelligent service dolly usually has some basic functions, such as through camera visual recognition, utilize sensor to sense surrounding environment, rely on navigation system to carry out path planning etc.

[0009] However, these existing technologies still have many deficiencies, although the current part intelligent service dolly has already had brain wave monitoring function, in response accuracy and personalization still need to be improved, the laser ranging function of existing dolly mainly concentrates on obstacle avoidance and simple path planning, the perception and understanding of environment are not enough, in addition, when dolly runs at high speed and passes rugged road, dolly body can produce large amplitude swing, possibly causes damage to element on car, reduces its service life, also can have adverse effect on the stability of brain wave sensor signal acquisition, the present application is directed to the above problems, proposes an improved intelligent service dolly design scheme, aims at further improving the accuracy and personalization of dolly response according to user brain wave state, optimizing the application of laser ranging function, improving the experience of remote control, enhancing the performance of shock-absorbing track, so that dolly can better adapt to complex environment, provides more high-quality, efficient service for user. INVENTION CONTENTS

[0010] The utility model provides a kind of intelligent service dolly based on brain-computer interface, solve part intelligent service dolly already had brain wave monitoring function, but in response accuracy and personalization still need to improve and the problem that dolly shakes possibly with large amplitude when high-speed driving over rugged road.

[0011] To achieve the above object, the utility model is realized by the following technical solutions:

[0012] A kind of intelligent service dolly based on brain-computer interface, including car body, the intelligent service dolly based on brain-computer interface further include: the STM32 single-chip microcontroller is provided on the car body upper, the support plate is fixedly connected on the car body upper surface, camera and two double-frequency WiFi are fixedly connected on the support plate upper surface, the connecting plate is fixedly connected on the left and right sides of the car body, two The caterpillar belt is provided on the opposite side of two connecting plates, the clamping plate is fixedly connected on the support plate upper surface, the laser ranging radar is provided above the clamping plate, a group of connecting wheels are arranged in two caterpillar belts.

[0013] Preferably: the clamping plate is fixedly installed with cooling fan, the laser ranging radar lower surface is fixedly connected with fixed plate, the motor is fixedly installed on the fixed plate lower surface, the gear is rotatably connected on the fixed plate upper surface, the gear is fixedly connected with motor output shaft.

[0014] Preferably: the laser ranging radar annular side is provided with a group of clamping grooves, a group of The clamping groove is movably connected with gear, the driven wheel and the drive wheel are rotatably connected on the opposite side of two connecting plates, the spring is fixedly connected on the connecting wheel upper surface.

[0015] Compared with prior art, the utility model has the following beneficial effects:

[0016] 1, The trolley uses a TGAM brain wave sensor to collect user brain electrical signals, uses a wavelet transform and Fourier transform combined method to extract and process the original brain electrical data, after preprocessing, the brain electrical signals are detected and classified in states to adapt to different mental states, such as quickly responding to instructions when awake, automatically slowing down or entering a safety mode when attention decreases, and simultaneously, a path planning program based on an ant colony algorithm is realized to complete the automatic navigation function, through collecting and processing the brain electrical signals, the user's attention state is accurately identified, the trolley behavior is controlled, efficient interaction is realized, the path planning and automatic navigation algorithm are combined, so that the trolley can move autonomously and avoid obstacles in a complex indoor environment, the STM32 single-chip microcomputer pre-processes the received data, based on the processed point cloud data, the trolley can identify the positions and shapes of surrounding obstacles, terrain features and target objects and the like, so as to quickly and accurately obtain three-dimensional information of the environment around the trolley, provide a more detailed and accurate environment map than a traditional distance sensor, and greatly improve the understanding ability of the trolley to a complex environment.

[0017] 2, The connecting wheels and springs are arranged in the track to absorb and slow down the impact force from the ground, the design of the connecting wheels ensures the track tension and further reduces the vibration transmission to the vehicle body, when the trolley starts, the STM32 single-chip microcomputer controls the motor to drive the driving wheel to rotate, the driving wheel drives the track to start moving, in the driving process, the laser ranging radar and the camera monitor the surrounding environment in real time to provide navigation and obstacle avoidance information for the trolley, the whole can effectively reduce the influence of ground vibration on the internal components of the trolley, and ensure the accuracy of data collection and normal operation of the equipment of the trolley. BRIEF DESCRIPTION OF DRAWINGS

[0018] The above description is only a summary of the technical scheme of the utility model, in order to more clearly understand the technical means of the utility model, and can be implemented according to the content of the specification, the following preferred embodiments of the utility model are described in detail with the help of the drawings.

[0019] Figure 1 It is the overall structural diagram of the utility model;

[0020] Figure 2 It is the track structure diagram of the utility model;

[0021] Figure 3 It is the vehicle body structure diagram of the utility model;

[0022] Figure 4 It is the laser ranging radar structure diagram of the utility model.

[0023] Legend: 1, vehicle body; 2, track; 4, dual-frequency WiFi; 5, laser ranging radar; 6, STM32 single-chip microcomputer; 7, camera; 8, connecting plate; 9, spring; 10, connecting wheel; 11, driven wheel; 12, fixing plate; 13, support plate; 14, clamping plate; 15, clamping groove; 16, gear; 17, motor; 18, cooling fan; 19, drive wheel. DETAILED DESCRIPTION

[0024] The embodiment of the application provides an intelligent service trolley based on a brain-computer interface, effectively solves the problems that part of intelligent service trolleys have brain wave monitoring functions, but the response accuracy and personalization still need to be improved, and when the trolley runs at high speed on rugged road surfaces, the trolley body may shake greatly, the application can further improve the response accuracy and personalization of the trolley according to the brain wave state of the user, optimize the application of the laser ranging function, improve the experience of remote control, enhance the performance of the shock-absorbing track, and enable the trolley to better adapt to complex environments, thereby providing more high-quality and efficient services for the user.

[0025] Embodiment 1

[0026] The technical scheme in the embodiment of the application effectively solves the problems that part of intelligent service trolleys have brain wave monitoring functions, but the response accuracy and personalization still need to be improved, and when the trolley runs at high speed on rugged road surfaces, the trolley body may shake greatly, and the overall idea is as follows:

[0027] In view of the problems in the prior art, the utility model provides a kind of intelligent service trolley based on brain-computer interface, including vehicle body 1, this kind of intelligent service trolley based on brain-computer interface further include: STM32 single-chip microcomputer 6 is provided on vehicle body 1 upper, vehicle body 1 upper surface is fixedly connected with support plate 13, support plate 13 upper surface is fixedly connected with camera 7 and two dual-frequency WiFi 4, vehicle body 1 left and right sides are fixedly connected with connecting plate 8, two connecting plates 8 are provided with track 2 on the opposite surface, support plate 13 upper surface is fixedly connected with clamping plate 14, clamping plate 14 upper is provided with laser ranging radar 5, a group of connecting wheels 10 are arranged in two tracks 2, trolley uses TGAM brain wave sensor to collect user brain electrical signal, uses wavelet transform and fourier transform combined method to the original brain electrical data carries out feature extraction and processing, after pre-processing, brain electrical signal is detected and classified to adapt to different mental state, such as clear when fast response instruction, attention decline automatically slows down or enters safety mode, simultaneously, realize the path planning program based on ant colony algorithm, to complete automatic navigation function, by collecting and processing brain electrical signal, accurately identify user attention state, control trolley behavior, realize efficient interaction, combine path planning and automatic navigation algorithm, so that trolley can move autonomously and avoid obstacles in complex indoor environment.

[0028] The heat dissipation fan 18 is fixedly installed in the card board 14, the fixed plate 12 is fixedly connected to the lower surface of the laser ranging radar 5, the motor 17 is fixedly installed on the lower surface of the fixed plate 12, the gear 16 is rotatably connected to the upper surface of the fixed plate 12, the gear 16 is fixedly connected with the output shaft of the motor 17, the laser ranging radar 5 is arranged on the vehicle body 1, the output shaft of the motor 17 drives the gear 16 fixedly connected therewith to rotate, the gear 16 drives the laser ranging radar 5 fixedly connected therewith to rotate in the rotating process, the laser ranging radar 5 emits a laser pulse to the target through the laser emitter in the laser ranging radar 5, when the laser pulse meets the obstacle or target surface, reflection occurs, part of the reflected light returns along the original path and is received by the radar, the time interval between the laser emission and the reception of the reflected light is accurately measured, the distance information can be obtained by calculation, the laser ranging radar 5 starts to work, rotates and scans in the horizontal and vertical directions according to a certain angle step, the point cloud data collected by scanning is transmitted to the STM32 single-chip microcomputer 6 in real time, the STM32 single-chip microcomputer 6 pre-processes the received data, based on the processed point cloud data, the car can identify the surrounding obstacles, terrain features and the position and shape of the target object, so as to quickly and accurately obtain the three-dimensional information of the environment around the car, provide more detailed and accurate environment map than the traditional distance sensor, greatly improve the understanding ability of the car to the complex environment, the dual-frequency WiFi 4 is configured on the car, by setting the network name, password and other parameters, after the external device searches the WiFi network of the car, the correct password is inputted to connect, after the connection is successful, the data communication link is established, the user can communicate with the car through the external device connected to the Internet, realize the remote control and real-time monitoring of the car, which greatly expands the use range and application scene of the car.

[0029] The laser ranging radar 5 is provided with a group of clamping grooves 15 on the annular side surface, the group of clamping grooves 15 are movably clamped with the gear 16, the two connecting plates 8 are movably connected with the driven wheels 11 and the driving wheels 19 on the opposite surfaces, the spring 9 is fixedly connected to the upper surface of each connecting wheel 10, the camera 7 is arranged on the vehicle body 1 to provide visual information, which supplements the deficiency of the laser ranging radar 5 in visual perception of the environment, the chassis of the vehicle body 1 is composed of two caterpillar belts 2, the caterpillar belt 2 is composed of a plurality of chain links, is wound around the driving wheels 19 and the driven wheels 11 of the chassis, forms a continuous annular belt, the caterpillar belt 2 is movably connected through the hinges between each chain link, so that the caterpillar belt 2 has a certain flexibility, the connecting wheel 10 and the spring 9 are arranged in the caterpillar belt 2 to absorb and slow down the impact force from the ground, the design of the group of connecting wheels 10 ensures the tension of the caterpillar belt 2 and further reduces the vibration transmitted to the vehicle body 1, when the trolley starts, the STM32 single-chip microcomputer 6 controls the motor to drive the driving wheel 19 to rotate, the driving wheel 19 drives the caterpillar belt 2 to start moving, in the driving process, the laser ranging radar 5 and the camera 7 monitor the surrounding environment in real time, provide navigation and obstacle avoidance information for the trolley, the whole can effectively reduce the influence of ground vibration on the internal components of the trolley, ensures the accuracy of data collection of the trolley and the normal operation of the equipment.

[0030] Working principle:

[0031] The trolley uses a TGAM brain wave sensor to collect user brain electrical signals, adopts a wavelet transform and Fourier transform combined method to extract and process the original brain electrical data, and after preprocessing, the brain electrical signals are detected and classified in states to adapt to different mental states, such as quickly responding to instructions when awake, automatically slowing down or entering a safety mode when attention decreases, and simultaneously, a path planning program based on an ant colony algorithm is realized to complete the automatic navigation function. Through the collection and processing of brain electrical signals, the user's attention state is accurately identified, the trolley behavior is controlled, efficient interaction is realized, the path planning and automatic navigation algorithm are combined, so that the trolley can move autonomously and avoid obstacles in a complex indoor environment. The laser ranging radar 5 is arranged on the vehicle body 1, and the output shaft of the starting motor 17 drives the fixed gear 16 to rotate. The gear 16 drives the laser ranging radar 5 to rotate during rotation. The laser ranging radar 5 emits a laser pulse to the target through the internal laser emitter. When the laser pulse encounters an obstacle or target surface, it will reflect. Part of the reflected light returns along the original path and is received by the radar. By accurately measuring the time interval between laser emission and receiving reflected light, the distance information can be obtained by calculation. The laser ranging radar 5 starts to work, rotates and scans in the horizontal and vertical directions according to a certain angle step, and transmits the point cloud data collected by scanning to the STM32 single-chip microcomputer 6 in real time. The STM32 single-chip microcomputer 6 preprocesses the received data. Based on the processed point cloud data, the trolley can identify the position and shape of the surrounding obstacles, terrain features and target objects, etc. In this way, the three-dimensional information of the environment around the trolley can be quickly and accurately obtained, a more detailed and accurate environment map than traditional distance sensors can be provided, and the understanding ability of the trolley to complex environments is greatly improved. The dual-frequency WiFi 4 is configured on the trolley. After setting the network name, password and other parameters, searching for the WiFi network of the trolley through an external device and inputting the correct password for connection, a data communication link is established after successful connection. The user can communicate with the trolley through an external device connected to the Internet, realize remote control and real-time monitoring of the trolley, greatly expand the use range and application scenarios of the trolley. The camera 7 is arranged on the vehicle body 1 to provide visual information and supplement the shortcomings of the laser ranging radar 5 in visual perception of the environment. The chassis of the vehicle body 1 is composed of two tracks 2. The track 2 is composed of multiple chain links and is wrapped around the driving wheel 19 and the driven wheel 11 of the chassis to form a continuous annular belt. The tracks 2 are connected by hinges between each chain link, so that the tracks 2 have a certain flexibility. The connection wheel 10 and the spring 9 are arranged in the track 2 to absorb and slow down the impact force from the ground. The design of a set of connection wheels 10 ensures the tension of the track 2 while further reducing the vibration transmitted to the vehicle body 1. When the trolley starts, the STM32 single-chip microcomputer 6 controls the motor to drive the driving wheel 19 to rotate, and the driving wheel 19 drives the track 2 to start moving. During the driving process, the laser ranging radar 5 and the camera 7 monitor the surrounding environment in real time.The navigation and obstacle avoidance information are provided for the trolley, the overall can effectively reduce the influence of ground vibration on the internal components of the trolley, and the accuracy of data collected by the trolley and the normal operation of the equipment are guaranteed.

[0032] Finally, it should be noted that: obviously, the above embodiments are only examples for clearly illustrating the utility model, and are not limited to the implementation. For ordinary skilled persons in the art, other different forms of changes or variations can be made on the basis of the above description. Here, it is not necessary and impossible to enumerate all the implementation. The obvious changes or variations derived therefrom are still within the protection scope of the utility model.

Claims

1. A brain-computer interface-based intelligent service trolley, comprising a trolley body (1), characterized in that, The intelligent service trolley based on brain-computer interface further comprises an STM (32) single-chip microcomputer (6) arranged above the trolley body (1), a support plate (13) fixedly connected to the upper surface of the trolley body (1), a camera (7) and two dual-frequency WiFi (4) fixedly connected to the upper surface of the support plate (13). Wherein, the trolley body (1) is fixedly connected with connecting plates (8) on the left and right sides, the opposite surfaces of the two connecting plates (8) are provided with caterpillar belts (2), the upper surface of the support plate (13) is fixedly connected with a clamping plate (14), and the upper surface of the clamping plate (14) is provided with a laser ranging radar (5).

2. The intelligent service trolley based on brain-computer interface according to claim 1, characterized in that: A set of connecting wheels (10) are arranged in the two caterpillar belts (2).

3. The intelligent service cart based on brain-computer interface according to claim 1, characterized in that: The clamping plate (14) is fixedly installed with a heat dissipation fan (18).

4. The intelligent service cart based on brain-computer interface according to claim 1, characterized in that: The lower surface of the laser ranging radar (5) is fixedly connected with a fixed plate (12). Wherein, the lower surface of the fixed plate (12) is fixedly installed with a motor (17).

5. The intelligent service cart based on brain-computer interface according to claim 4, characterized in that: The upper surface of the fixed plate (12) is rotatably connected with a gear (16). Wherein, the gear (16) is fixedly connected with the output shaft of the motor (17).

6. The intelligent service cart based on brain-computer interface according to claim 5, characterized in that: A set of clamping grooves (15) are arranged on the annular side surface of the laser ranging radar (5). Wherein, the set of clamping grooves (15) are movably connected with the gear (16).

7. The intelligent service cart based on brain-computer interface according to claim 1, characterized in that: The opposite surfaces of the two connecting plates (8) are rotatably connected with driven wheels (11) and driving wheels (19).

8. The intelligent service cart based on brain-computer interface according to claim 2, characterized in that: The upper surface of each connecting wheel (10) is fixedly connected with a spring (9).

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